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<div><a href="../../menu.html">Home</a> &gt;  <a href="#">ReBEL-0.2.7</a> &gt; <a href="#">core</a> &gt; addangle.m</div>

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<h1>addangle
</h1>

<h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="box"><strong>ADDANGLE   Addition function for 'angle space' sigma-points expressed in radians.</strong></div>

<h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="box"><strong>function C = addangle(A, B) </strong></div>

<h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="fragment"><pre class="comment">  ADDANGLE   Addition function for 'angle space' sigma-points expressed in radians.
             This needed to deal with the angular discontinuety at +- pi radians.

             C = addangle(A,B)

   INPUT
           A and B  : angles expressed in radians
   OUTPUT
           C        : sum C=A+B such that  -pi &lt; C &lt; pi

   Copyright (c) Oregon Health &amp; Science University (2006)

   This file is part of the ReBEL Toolkit. The ReBEL Toolkit is available free for
   academic use only (see included license file) and can be obtained from
   http://choosh.csee.ogi.edu/rebel/.  Businesses wishing to obtain a copy of the
   software should contact rebel@csee.ogi.edu for commercial licensing information.

   See LICENSE (which should be part of the main toolkit distribution) for more
   detail.</pre></div>

<!-- crossreference -->
<h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
This function calls:
<ul style="list-style-image:url(../../matlabicon.gif)">
</ul>
This function is called by:
<ul style="list-style-image:url(../../matlabicon.gif)">
<li><a href="cdkf.html" class="code" title="function [xh, Px, pNoise, oNoise, InternalVariablesDS] = cdkf(state, Pstate, pNoise, oNoise, obs, U1, U2, InferenceDS)">cdkf</a>	CDKF  Central Difference Kalman Filter  (Sigma-Point Kalman Filter variant)</li><li><a href="srcdkf.html" class="code" title="function [xh, Sx, pNoise, oNoise, InternalVariablesDS] = srcdkf(state, Sstate, pNoise, oNoise, obs, U1, U2, InferenceDS)">srcdkf</a>	SRCDKF  Square Root Central Difference Kalman Filter (Sigma-Point Kalman Filter variant)</li><li><a href="srukf.html" class="code" title="function [xh, Sx, pNoise, oNoise, InternalVariablesDS] = srukf(state, Sstate, pNoise, oNoise, obs, U1, U2, InferenceDS)">srukf</a>	SRUKF  Square Root Unscented Kalman Filter (Sigma-Point Kalman Filter variant)</li><li><a href="ukf.html" class="code" title="function [xh, Px, pNoise, oNoise, InternalVariablesDS] = ukf(state, Pstate, pNoise, oNoise, obs, U1, U2, InferenceDS)">ukf</a>	UKF  Unscented Kalman Filter</li><li><a href="../.././ReBEL-0.2.7/examples/gssm/gssm_bft.html" class="code" title="function [varargout] = model_interface(func, varargin)">gssm_bft</a>	GSSM_BFT  General state space model for Bearings and Frequency Tracking of a randomly maneuvering</li><li><a href="../.././ReBEL-0.2.7/examples/gssm/gssm_brt.html" class="code" title="function [varargout] = model_interface(func, varargin)">gssm_brt</a>	GSSM_BRT  General state space model for Bearing-and-Range Tracking of a randomly maneuvering</li><li><a href="../.././ReBEL-0.2.7/examples/state_estimation/demse4.html" class="code" title="">demse4</a>	DEMSE4  Bearing Only Tracking Example</li></ul>
<!-- crossreference -->


<h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="fragment"><pre>0001 <a name="_sub0" href="#_subfunctions" class="code">function C = addangle(A, B)</a>
0002 
0003 <span class="comment">%  ADDANGLE   Addition function for 'angle space' sigma-points expressed in radians.</span>
0004 <span class="comment">%             This needed to deal with the angular discontinuety at +- pi radians.</span>
0005 <span class="comment">%</span>
0006 <span class="comment">%             C = addangle(A,B)</span>
0007 <span class="comment">%</span>
0008 <span class="comment">%   INPUT</span>
0009 <span class="comment">%           A and B  : angles expressed in radians</span>
0010 <span class="comment">%   OUTPUT</span>
0011 <span class="comment">%           C        : sum C=A+B such that  -pi &lt; C &lt; pi</span>
0012 <span class="comment">%</span>
0013 <span class="comment">%   Copyright (c) Oregon Health &amp; Science University (2006)</span>
0014 <span class="comment">%</span>
0015 <span class="comment">%   This file is part of the ReBEL Toolkit. The ReBEL Toolkit is available free for</span>
0016 <span class="comment">%   academic use only (see included license file) and can be obtained from</span>
0017 <span class="comment">%   http://choosh.csee.ogi.edu/rebel/.  Businesses wishing to obtain a copy of the</span>
0018 <span class="comment">%   software should contact rebel@csee.ogi.edu for commercial licensing information.</span>
0019 <span class="comment">%</span>
0020 <span class="comment">%   See LICENSE (which should be part of the main toolkit distribution) for more</span>
0021 <span class="comment">%   detail.</span>
0022 
0023 <span class="comment">%=============================================================================================</span>
0024 
0025 C = A + B;
0026 
0027 twopi = 2*pi;
0028 
0029 idx1 = C &gt; pi;
0030 idx2 = C &lt; -pi;
0031 
0032 C(idx1) = C(idx1) - twopi;
0033 C(idx2) = C(idx2) + twopi;
0034</pre></div>
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